Merge pull request #160 from minggangw/fix-issue-53

Add debug log for the JavaScript code

Author: Minggang Wang

index.js

@@ -21,6 +21,7 @@ const packages = require('./rosidl_gen/packages.js');
 const loader = require('./lib/interface_loader.js');
 const QoS = require('./lib/qos.js');
 const validator = require('./lib/validator.js');
+const debug = require('debug')('rclnodejs');
 
 function inherits(target, source) {
   let properties = Object.getOwnPropertyNames(source.prototype);
@@ -59,6 +60,7 @@ let rcl = {
     let node =  new rclnodejs.ShadowNode();
 
     node.init(nodeName, namespace);
+    debug('Finish initializing node, name = %s and namespace = %s.', nodeName, namespace);
     node.handle = handle;
     this._nodes.push(node);
     return node;
@@ -72,9 +74,12 @@ let rcl = {
   init(...args) {
     return new Promise((resolve, reject) => {
       if (!this._initialized) {
+        debug('Begin to generate JavaScript code from ROS IDL files.');
         // TODO(Kenny): introduce other policy to save the amout of time of doing message generation
         generator.generateAll(false).then(() => {
+          debug('Finish generating.');
           rclnodejs.init(args);
+          debug('Finish initializing rcl with args = %o.', args);
           this._initialized = true;
           resolve();
         }).catch((e) => {
@@ -147,8 +152,10 @@ let rcl = {
   regenerateAll() {
     // This will trigger to regererate all the JS structs used for messages and services,
     // to overwrite the existing ones although they have been created.
+    debug('Begin to regenerate JavaScript code from ROS IDL files.');
     return new Promise((resolve, reject) => {
       generator.generateAll(true).then(() => {
+        debug('Finish regenerating.');
         resolve();
       }).catch((e) => {
         reject(e);

lib/client.js

@@ -16,6 +16,7 @@
 
 const rclnodejs = require('bindings')('rclnodejs');
 const Entity = require('./entity.js');
+const debug = require('debug')('rclnodejs:client');
 
 /**
  * @class - Class representing a Client in ROS
@@ -59,6 +60,7 @@ class Client extends Entity {
 
     let rawROSRequest = rclRequest.serialize();
     this._sequenceNumber = rclnodejs.sendRequest(this._handle, rawROSRequest);
+    debug('Client has sent a request.');
     this._callback = callback;
   }
 
@@ -68,6 +70,7 @@ class Client extends Entity {
 
   processResponse(response) {
     this._response.deserialize(response);
+    debug('Client has received response from service.');
     this._callback(this._response);
   }
 

lib/node.js

@@ -21,6 +21,7 @@ const Subscription = require('./subscription.js');
 const Client = require('./client.js');
 const Service = require('./service.js');
 const QoS = require('./qos.js');
+const debug = require('debug')('rclnodejs:node');
 
 /**
  * @class - Class representing a Node in ROS
@@ -115,8 +116,8 @@ class Node {
 
     let timerHandle = rclnodejs.createTimer(period);
     let timer = new Timer(timerHandle, period, callback);
+    debug('Finish creating timer, period = %d.', period);
     this._timers.push(timer);
-
     return timer;
   }
 
@@ -134,6 +135,7 @@ class Node {
     }
 
     let publisher = Publisher.createPublisher(this.handle, typeClass, topic, qos);
+    debug('Finish creating publisher, topic = %s.', topic);
     this._publishers.push(publisher);
     return publisher;
   }
@@ -164,6 +166,7 @@ class Node {
     }
 
     let subscription = Subscription.createSubscription(this.handle, typeClass, topic, callback, qos);
+    debug('Finish creating subscription, topic = %s.', topic);
     this._subscriptions.push(subscription);
     return subscription;
   }
@@ -182,6 +185,7 @@ class Node {
     }
 
     let client = Client.createClient(this.handle, serviceName, typeClass, qos);
+    debug('Finish creating client, service = %s.', serviceName);
     this._clients.push(client);
     return client;
   }
@@ -212,6 +216,7 @@ class Node {
     }
 
     let service = Service.createService(this.handle, serviceName, typeClass, callback, qos);
+    debug('Finish creating service, service = %s.', serviceName);
     this._services.push(service);
     return service;
   }

lib/publisher.js

@@ -15,7 +15,7 @@
 'use strict';
 
 const rclnodejs = require('bindings')('rclnodejs');
-const debug = require('debug')('rcl_publisher');
+const debug = require('debug')('rclnodejs:publisher');
 const Entity = require('./entity.js');
 
 /**
@@ -53,6 +53,7 @@ class Publisher extends Entity {
     let rawRosMessage = rclMessage.serialize();
     if (rawRosMessage) {
       rclnodejs.publish(this._handle, rawRosMessage);
+      debug('Message has been published.');
     } else {
       debug('Message was not published:', rclMessage);
     }

lib/service.js

@@ -16,6 +16,7 @@
 
 const rclnodejs = require('bindings')('rclnodejs');
 const Entity = require('./entity.js');
+const debug = require('debug')('rclnodejs:service');
 
 /**
  * @class - Class representing a Service in ROS
@@ -32,10 +33,12 @@ class Service extends Entity {
 
   processRequest(headerHandle, request) {
     this._request.deserialize(request);
+    debug('Service has received a request from client.');
     let response = this._callback(this._request, new this._typeClass.Response());
 
     let rawROSResponse = response.serialize();
     rclnodejs.sendResponse(this._handle, rawROSResponse, headerHandle);
+    debug('Service has processed the request and sent the response.');
   }
 
   static createService(nodeHandle, serviceName, typeClass, callback, qos) {

lib/subscription.js

@@ -16,6 +16,7 @@
 
 const rclnodejs = require('bindings')('rclnodejs');
 const Entity = require('./entity.js');
+const debug = require('debug')('rclnodejs:subscription');
 
 /**
  * @class - Class representing a Subscription in ROS
@@ -32,6 +33,7 @@ class Subscription extends Entity {
 
   processResponse(msg) {
     this._message.deserialize(msg);
+    debug('Message received.');
     this._callback(this._message);
   }